@book{featherstone2014rigid,
  title={Rigid body dynamics algorithms},
  author={Featherstone, Roy},
  year={2008},
  publisher={Springer},
  doi = {10.1007/978-1-4899-7560-7}
}

@article{sohl2001recursive,
  title={A recursive multibody dynamics and sensitivity algorithm for branched kinematic chains},
  author={Sohl, Garett A and Bobrow, James E},
  journal={TRANSACTIONS-AMERICAN SOCIETY OF MECHANICAL ENGINEERS JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL},
  volume={123},
  number={3},
  pages={391--399},
  year={2001},
  publisher={AMERICAN SOCIETY MECHANICAL ENGINEERS},
  doi = {10.1115/1.1376121}
}

@article{ploen1999coordinate,
  title={Coordinate-invariant algorithms for robot dynamics},
  author={Ploen, Scott R and Park, Frank C},
  journal={IEEE Transactions on Robotics and Automation},
  volume={15},
  number={6},
  pages={1130--1135},
  year={1999},
  publisher={IEEE},
  doi = {10.1109/70.817677}
}

@article{stewart1996implicit,
  title={An implicit time-stepping scheme for rigid body dynamics with inelastic collisions and coulomb friction},
  author={Stewart, David E and Trinkle, Jeffrey C},
  journal={International Journal for Numerical Methods in Engineering},
  volume={39},
  number={15},
  pages={2673--2691},
  year={1996},
  publisher={Wiley Online Library},
  doi = {10.1002/(SICI)1097-0207(19960815)39:15<2673::AID-NME972>3.0.CO;2-I}
}

@article{park1995lie,
  title={A Lie group formulation of robot dynamics},
  author={Park, Frank C and Bobrow, James E and Ploen, Scott R},
  journal={The International Journal of Robotics Research},
  volume={14},
  number={6},
  pages={609--618},
  year={1995},
  publisher={Sage Publications Sage CA: Thousand Oaks, CA},
  doi = {10.1177/027836499501400606}
}
